Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway

The tunneling work belongs to the group operation of semi-closed space, and the work is difficult with a high risk coefficient. It is an urgent requirement of coal mining to achieve unmanned and intelligent tunneling work. The path rectification planning of roadheaders is a necessary step before roa...

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Autores principales:	Xiaodong Ji, Minjun Zhang, Yuanyuan Qu, Hai Jiang, Miao Wu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	roadheader dynamics analysis rectification plan particle swarm optimization Technology T
Acceso en línea:	https://doaj.org/article/c24cdb19554046cd8150f860de065ed8
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spelling	oai:doaj.org-article:c24cdb19554046cd8150f860de065ed82021-11-11T15:58:16ZTravel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway10.3390/en142172011996-1073https://doaj.org/article/c24cdb19554046cd8150f860de065ed82021-11-01T00:00:00Zhttps://www.mdpi.com/1996-1073/14/21/7201https://doaj.org/toc/1996-1073The tunneling work belongs to the group operation of semi-closed space, and the work is difficult with a high risk coefficient. It is an urgent requirement of coal mining to achieve unmanned and intelligent tunneling work. The path rectification planning of roadheaders is a necessary step before roadway cutting. In the traditional dynamic modeling analysis of roadhead tracks, problems such as compaction resistance, bulldozing resistance, steering resistance, tunnel dip angle, ditching, and obstacle-crossing capacity are not considered. In order to approximate the kinematic and dynamic parameters of a roadheader’s deviation correction under actual working conditions, this paper establishes kinematic and dynamic models of a roadheader’s path rectification at low speeds and under complex working conditions, and calculates the obstacle-crossing ability of roadheaders in the course of path rectification by modes based on roadway conditions, crawler resistance, and driving performance of the roadheader. Field experiments were carried out to verify the effectiveness of the dynamic model. The dynamic roadheader model was used in combination with actual working conditions of roadways in order to establish a roadway grid model. The grid model was simplified using rectifying influence degree and distance cost. The roadheader dynamic model and grid model were then used to propose a path rectification planning and tracking algorithm based on particle swarm optimization of the actual roadway conditions and roadheader driving performance. Finally, the effectiveness and superiority of the algorithm were verified using MATLAB simulation. The algorithm can provide strong technical guarantee for the intelligence of roadheader and unmanned mining. The results presented here can provide theoretical and technical support for the structural optimization and intelligent travel control of roadheaders.Xiaodong JiMinjun ZhangYuanyuan QuHai JiangMiao WuMDPI AGarticleroadheaderdynamics analysisrectification planparticle swarm optimizationTechnologyTENEnergies, Vol 14, Iss 7201, p 7201 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	roadheader dynamics analysis rectification plan particle swarm optimization Technology T
spellingShingle	roadheader dynamics analysis rectification plan particle swarm optimization Technology T Xiaodong Ji Minjun Zhang Yuanyuan Qu Hai Jiang Miao Wu Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway
description	The tunneling work belongs to the group operation of semi-closed space, and the work is difficult with a high risk coefficient. It is an urgent requirement of coal mining to achieve unmanned and intelligent tunneling work. The path rectification planning of roadheaders is a necessary step before roadway cutting. In the traditional dynamic modeling analysis of roadhead tracks, problems such as compaction resistance, bulldozing resistance, steering resistance, tunnel dip angle, ditching, and obstacle-crossing capacity are not considered. In order to approximate the kinematic and dynamic parameters of a roadheader’s deviation correction under actual working conditions, this paper establishes kinematic and dynamic models of a roadheader’s path rectification at low speeds and under complex working conditions, and calculates the obstacle-crossing ability of roadheaders in the course of path rectification by modes based on roadway conditions, crawler resistance, and driving performance of the roadheader. Field experiments were carried out to verify the effectiveness of the dynamic model. The dynamic roadheader model was used in combination with actual working conditions of roadways in order to establish a roadway grid model. The grid model was simplified using rectifying influence degree and distance cost. The roadheader dynamic model and grid model were then used to propose a path rectification planning and tracking algorithm based on particle swarm optimization of the actual roadway conditions and roadheader driving performance. Finally, the effectiveness and superiority of the algorithm were verified using MATLAB simulation. The algorithm can provide strong technical guarantee for the intelligence of roadheader and unmanned mining. The results presented here can provide theoretical and technical support for the structural optimization and intelligent travel control of roadheaders.
format	article
author	Xiaodong Ji Minjun Zhang Yuanyuan Qu Hai Jiang Miao Wu
author_facet	Xiaodong Ji Minjun Zhang Yuanyuan Qu Hai Jiang Miao Wu
author_sort	Xiaodong Ji
title	Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway
title_short	Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway
title_full	Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway
title_fullStr	Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway
title_full_unstemmed	Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway
title_sort	travel dynamics analysis and intelligent path rectification planning of a roadheader on a roadway
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/c24cdb19554046cd8150f860de065ed8
work_keys_str_mv	AT xiaodongji traveldynamicsanalysisandintelligentpathrectificationplanningofaroadheaderonaroadway AT minjunzhang traveldynamicsanalysisandintelligentpathrectificationplanningofaroadheaderonaroadway AT yuanyuanqu traveldynamicsanalysisandintelligentpathrectificationplanningofaroadheaderonaroadway AT haijiang traveldynamicsanalysisandintelligentpathrectificationplanningofaroadheaderonaroadway AT miaowu traveldynamicsanalysisandintelligentpathrectificationplanningofaroadheaderonaroadway
_version_	1718432437897265152

Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway

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